Fuzzy -Logic Controller for Flexible-Link Manipulators

유연 링크 로봇의 제어

This paper describes the design process and the experimental results of a fuzzy logic controller to control the tip position of a fixible-link manipulator, directly driven by a AC motor, with a large payload. The joint angle fuzzy logic controller is designed without a costly nonlinear system analysis of the flexible manipulator and the AC motor drive system. The state variables for the fuzzy logic controller are joint angle, joint velocity, link deflection, and link deflection velocity. The simulation and experimental results show that the joint position control is not satisfactory when the controller is designed under the assumption of no link flexibility and that stable joint position control and link vibration suppression can be cahieved with the fuzzy logic controller suggested in this paper.